CN207738069U - A kind of AGV merchandising machine people with mechanical arm - Google Patents
A kind of AGV merchandising machine people with mechanical arm Download PDFInfo
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- CN207738069U CN207738069U CN201721367843.0U CN201721367843U CN207738069U CN 207738069 U CN207738069 U CN 207738069U CN 201721367843 U CN201721367843 U CN 201721367843U CN 207738069 U CN207738069 U CN 207738069U
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Abstract
The utility model is related to a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies, mechanical arm, mechanical arm is by moving up and down module, it is moved forward and backward module, move left and right module, electric hand refers to four part of mobile module composition, it is upper and lower that the movement of four modules drives electric hand to refer to, it is front and back, it moves left and right and the automatic propulsion and pull-out of raw material is acted, feeding is completed under the commander of MES system and AGV system, feeding and feeding work, advantageous effect is, reduce the error rate of process equipment feeding, promote the yield of product, reduce manual work intensity, reduce operating personnel's quantity, reduce processing cost, promote feeding speed, lifting process equipment mobility, reduce process equipment quantity, reduce fraction defective, increase the output value.
Description
Technical field
The utility model is related to a kind of AGV merchandising machines people, more particularly to a kind of AGV merchandising machine people with mechanical arm.
Background technology
The material-uploading style of conventional semiconductors monocrystalline silicon piece cutting machine largely relies on artificial carrying, artificial docking, artificial push-in,
Since silicon single crystal raw material volume is big, quality is big；Manual operation feeding is time-consuming, laborious, raw material is fragile, is prone to accidents, and removes
It is big to transport labor intensity of operating staff；Production safety risk is difficult to control.
Invention content
In view of the problems existing in the prior art, the utility model provides a kind of AGV merchandising machine people with mechanical arm, specifically
Technical solution is a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies, mechanical arm, it is characterised in that：Mechanical arm by
Move up and down module, be moved forward and backward module, move left and right module, electric hand refers to four part of mobile module composition, the described left and right is moved
Dynamic model block includes moving left and right motor, left and right substrate, left and right rail, left and right rail sliding block, left and right leading screw, left and right leading screw perpendicular to
AGV car body directions of advance are fixed on AGV car bodies upper surface, and two left and right rails are parallel to left and right leading screw and are fixed on its both sides, left
There are left and right rail sliding block, left and right rail sliding block and the screw of left and right leading screw to fix on right guide rail, left and right substrate, which is fixed on left and right, leads
It on rail sliding block, moves left and right motor and is fixed on AGV car bodies, move left and right motor and drive the rotation of left and right leading screw, left and right leading screw
Screw drives left and right rail sliding block or so fine motion, the also left and right fine motion simultaneously of left and right substrate；The module that moves up and down includes the back of the body
Muscle promotes substrate, reinforcing rib, promotes motor, lift rail, promotes leading screw, lift rail sliding block and tablet, reinforcing rib, promotion
Substrate, backing strip, by being tightly fixed on left and right substrate, make promotion substrate be anchored between reinforcing rib and backing strip, promote base according to succession
Fixed promotion leading screw, the parallel promotion leading screw of two lift rails are fixed on both sides on the vertical center line in front edge of board face, and promotion is led
There is lift rail sliding block on rail, lift rail sliding block is fixed on the screw of leading screw, promotes motor and be fixed on promotion substrate top flat
On plate, promotes motor and drive promotion leading screw rotation, screw that lift rail sliding block is driven to move up and down；The back-and-forth motion module
Including translation motor, triangle ledges, feeding substrate, translating rails, translating rails sliding block, translation leading screw, triangle ledges is vertically solid
Due on lift rail sliding block, translation leading screw is fixed on the center line of triangle ledges upper surface, and two translating rails are parallel to flat
It moves leading screw and is fixed on both sides, there is translating rails sliding block, translating rails sliding block and the screw of translation leading screw to fix on translating rails, on
Material substrate is fixed on translating rails sliding block, and translation motor is fixed in triangle ledges, and translation motor drives translation leading screw rotation,
Screw, which drives, promotes the back-and-forth motion of translating rails sliding block, and feeding substrate is also moved forward and backward；The electric hand refers to mobile module
Feeding motor, feeding leading screw, feeding screw, electric hand refer to, and feeding leading screw, feeding are fixed on the center line of feeding substrate lower face
Leading screw has feeding screw, and electric hand, which refers to, to be fixed on feeding screw, and electric hand refers to as rotatable electric gripper, and feeding motor is two and watches
Motor is taken, is fixed on feeding substrate, a servo motor drives the rotation of feeding leading screw, feeding screw that electric hand is driven to refer to front and back shifting
Dynamic, another servo motor drives electric hand to refer to rotation.
Advantageous effect caused by the utility model is to reduce the error rate of process equipment feeding, promote the yield of product,
Manual work intensity is reduced, operating personnel's quantity is reduced, reduces processing cost, promotes feeding speed, lifting process equipment is sowed
Rate reduces process equipment quantity, reduces fraction defective, increases the output value.
Description of the drawings
Fig. 1 is the front view of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the side view of the utility model；
Fig. 4 is the back-and-forth motion modular structure stereogram of the utility model；
Fig. 5 is that the electric hand of the utility model refers to mobile module structural perspective；
Fig. 6 is the feeding work flow diagram of the utility model；
Fig. 7 is the feeding work flow diagram of the utility model.
Specific implementation mode
As shown in Fig. 1,2,3,4,5, a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies 1, mechanical arm, machine
Tool arm by move up and down module, be moved forward and backward module, move left and right module, electric hand refers to four part of mobile module and forms, described
It includes moving left and right motor 22, left and right substrate 23, left and right rail 24, left and right rail sliding block 25, left and right leading screw to move left and right module,
Left and right leading screw is fixed on 1 upper surface of AGV car bodies perpendicular to 1 direction of advance of AGV car bodies, and two left and right rails 24 are parallel to left and right silk
Thick stick is fixed on its both sides, has left and right rail sliding block 25, left and right rail sliding block 25 and the screw of left and right leading screw solid on left and right rail 24
Fixed, left and right substrate 23 is fixed on left and right rail sliding block 25, is moved left and right motor 22 and is fixed on AGV car bodies 1, moves left and right electricity
Machine 22 drives the rotation of left and right leading screw, the screw of left and right leading screw to drive 25 or so the fine motion of left and right rail sliding block, left and right substrate 23 also same
When or so fine motion.
It is described move up and down module include backing strip 3, promote substrate 4, reinforcing rib 5, promoted motor 12, lift rail 15,
Leading screw 16, lift rail sliding block 17 and tablet 21 are promoted, reinforcing rib 5 promotes substrate 4, backing strip 3 according to succession by being tightly fixed on
Left and right substrate 23 makes promotion substrate 4 be anchored between reinforcing rib 5 and backing strip 3, on the vertical center line for promoting 4 front end face of substrate
Fixed 16, two lift rails of leading screw, the 15 parallel promotion leading screw 16 that promoted is fixed on both sides, has lift rail in lift rail 15
Sliding block 17 fixes lift rail sliding block 17 on the screw of leading screw 16, promotes motor 12 and is fixed on and is promoted on 4 top tablet of substrate,
Promoting motor 12 drives promotion leading screw 16 to rotate, and screw drives lift rail sliding block 17 to move up and down.
The back-and-forth motion module includes translation motor 2, triangle ledges 9, feeding substrate 10, translating rails 18, translation
Guide rail slide block 19, translation leading screw 20, triangle ledges 9 are perpendicularly fixed on lift rail sliding block 17, and translation leading screw 20 is fixed on three
On 9 upper surface center line of angle ledges, two translating rails 18 are parallel to translation leading screw 20 and are fixed on both sides, have on translating rails 18
Translating rails sliding block 19, translating rails sliding block 19 and the screw of translation leading screw 20 are fixed, and feeding substrate 10 is fixed on translating rails
On sliding block 19, translation motor 2 is fixed in triangle ledges 9, and translation motor 2 drives translation leading screw 20 to rotate, and screw, which drives, to be promoted
Translating rails sliding block 19 is moved forward and backward, and feeding substrate 10 is also moved forward and backward.
It includes that feeding motor 6, feeding leading screw 7, feeding screw 8, electric hand refer to 11 that the electric hand, which refers to mobile module, in feeding
Feeding leading screw 7 is fixed on the center line of 10 lower face of substrate, feeding leading screw 7 has feeding screw 8, electric hand to refer to 11 and be fixed on feeding silk
On mother 8, it is rotatable electric gripper that electric hand, which refers to 11, and feeding motor 6 is two servo motors, is fixed on feeding substrate 10, one
A servo motor drives feeding leading screw 7 to rotate, and feeding screw 8 drives electric hand to refer to 11 back-and-forth motions, another servo motor drives
Electric hand refers to 11 rotations.
As shown in Figure 6, Figure 7, feeding method includes the following steps,
Step 1: the AGV car bodies 1 of the AGV merchandising machine people with mechanical arm are reached according to instruction specifies storing area：
1. the tipper at storing sends out raw material by MES can transport the information of processing, after MES system receives information
Feeding information is sent to AGV system,
2. whether there is or not the AGV merchandising machine people of idle executable task in AGV system detecting system, to MES if not
System reports exception, if available free AGV merchandising machines people, notifies MES system task that can execute, while task being distributed
To idle AGV merchandising machines people,
Information in place, AGV system is reported to put up with to AGV system after tipper at feeding 3. the AGV merchandising machine people reach
For position information reporting to MES system, AGV merchandising machine people information in place is handed down to tipper by MES, asks whether can to carry out pair
It connects, can be docked, then carry out in next step；
Step 2: the AGV merchandising machine people that AGV system commander carries mechanical arm are docked with tipper, raw material（13）
The actions such as crawl：
1. according to the raw material placement position of tipper, AGV system manipulates moving up and down module, being moved forward and backward mould for mechanical arm
Block moves left and right module, and mechanical arm progress is upper and lower, moves around, makes the electric hand on the mechanical arm of AGV merchandising machine people
Refer to 13 placement position of raw material of 11 face tippers, meanwhile, electric hand refers to 11 and carries out raw material under the manipulation that electric hand refers to mobile module
Automatic propulsion and pull-out action, complete material from tipper to the transfer of AGV merchandising machine people,
2. mechanical arm posture restores, AGV merchandising machines people reports feeding successful information to AGV system, and AGV system is to MES
System reports feeding successful information, and a feeding flow is completed to this AGV system；
Step 3: the AGV car bodies 1 of the AGV merchandising machine people with mechanical arm are reached according to instruction specifies processing district：
1. the processing machine at processing sends out machine information to be processed to MES system, MES system believes processing after receiving information
Breath is sent to AGV system,
2. AGV system selects and appoints the AGV merchandising machines people for the carrying mechanical arm for having loaded raw material to send out processing letter by MES system
Breath goes to processing machine at processing,
3. backward AGV system reports information in place in place, by information reporting in place to MES system, MES will take AGV system
AGV merchandising machine people information in place with mechanical arm is handed down to processing machine, asks whether to be docked, and can carry out pair
It connects, then carries out in next step；
Step 4: the AGV merchandising machine people that AGV system commander carries mechanical arm are docked with processing machine, feeding action：
1. according to the raw material placement position of processing machine, AGV system manipulates moving up and down module, being moved forward and backward mould for mechanical arm
Block moves left and right module, makes mechanical arm progress or more, moves around, makes the AGV merchandising machine people's of carrying mechanical arm
The electric hand of mechanical arm refers to the exact center position of the perception feeding port of the laser positioning module on 11 and by two servo motor band
Dynamic turn-screw adjustment electric hand refers to X, Z axis position, makes itself and central coaxial in feeding port,
Meanwhile electric hand refers to 11 and is clamped dovetail seat both sides and feeding action under the manipulation that electric hand refers to mobile module, it is complete
Transfer at material from AGV merchandising machines people to processing machine,
2. mechanical arm posture restores, AGV merchandising machines people reports feeding successful information to system, and AGV system is to MES system
Feeding successful information is reported, completes a feeding flow to this AGV system, order mechanical arm resets AGV system simultaneously, machinery
Arm posture restores；
Step 5: AGV system send inquiry " whether there is or not be connected to feeding task " to AGV merchandising machine human hairs, such as answer, "None",
Then AGV system sends "None" information to MES system, and MES system commander AGV merchandising machine people go to Accreditation Waiting Area；
Step 6: such as answering, " having ", then AGV system sends " having " information to MES system, and MES system commands AGV logistics
Robot is gone at feeding, executes next instruction.
Claims (1)
1. a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies（1）, mechanical arm, it is characterised in that：Mechanical arm is by upper
Lower mobile module, be moved forward and backward module, move left and right module, electric hand refer to four part of mobile module composition, described moves left and right
Module includes moving left and right motor（22）, left and right substrate（23）, left and right rail（24）, left and right rail sliding block（25）, left and right leading screw,
Left and right leading screw is perpendicular to AGV car bodies（1）Direction of advance is fixed on AGV car bodies（1）Upper surface, two left and right rails（24）It is parallel to
Left and right leading screw is fixed on its both sides, left and right rail（24）On have left and right rail sliding block（25）, left and right rail sliding block（25）With left and right
The screw of leading screw is fixed, left and right substrate（23）It is fixed on left and right rail sliding block（25）On, move left and right motor（22）It is fixed on AGV
Car body（1）On, move left and right motor（22）The rotation of left and right leading screw, the screw of left and right leading screw is driven to drive left and right rail sliding block（25）
Left and right fine motion, left and right substrate（23）Also left and right fine motion simultaneously；The module that moves up and down includes backing strip（3）, promoted substrate
（4）, reinforcing rib（5）, promoted motor（12）, lift rail（15）, promoted leading screw（16）, lift rail sliding block（17）And tablet
（21）, reinforcing rib（5）, promoted substrate（4）, backing strip（3）According to succession by being tightly fixed on left and right substrate（23）, make promotion substrate
（4）It is anchored on reinforcing rib（5）And backing strip（3）Between, promote substrate（4）It is fixed on the vertical center line of front end face to promote leading screw
（16）, two pieces lift rails（15）Parallel promotion leading screw（16）It is fixed on both sides, lift rail（15）On have lift rail sliding block
（17）, leading screw（16）Screw on fix lift rail sliding block（17）, promote motor（12）It is fixed on promotion substrate（4）Top flat
On plate, motor is promoted（12）It drives and promotes leading screw（16）Rotation, screw drive lift rail sliding block（17）It moves up and down；Described
It includes translation motor to be moved forward and backward module（2）, triangle ledges（9）, feeding substrate（10）, translating rails（18）, translating rails slide
Block（19）, translation leading screw（20）, triangle ledges（9）It is perpendicularly fixed at lift rail sliding block（17）On, translate leading screw（20）It is fixed
In triangle ledges（9）On the center line of upper surface, two translating rails（18）It is parallel to translation leading screw（20）Both sides are fixed on, are translated
Guide rail（18）On have translating rails sliding block（19）, translating rails sliding block（19）With translation leading screw（20）Screw fix, feeding base
Plate（10）It is fixed on translating rails sliding block（19）On, translation motor（2）It is fixed on triangle ledges（9）On, translation motor（2）It drives
Translate leading screw（20）Rotation, screw, which drives, promotes translating rails sliding block（19）It is moved forward and backward, feeding substrate（10）Also it is moved forward and backward；
It includes feeding motor that the electric hand, which refers to mobile module,（6）, feeding leading screw（7）, feeding screw（8）, electric hand refers to（11）, in feeding
Substrate（10）Feeding leading screw is fixed on the center line of lower face（7）, feeding leading screw（7）There is feeding screw（8）, electric hand refers to（11）Gu
Due to feeding screw（8）On, electric hand refers to（11）For rotatable electric gripper, feeding motor（6）For two servo motors, it is fixed on
Feeding substrate（10）On, a servo motor drives feeding leading screw（7）Rotation, feeding screw（8）Electric hand is driven to refer to (11) front and back
Mobile, another servo motor drives electric hand to refer to (11) rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721367843.0U CN207738069U (en) | 2017-10-23 | 2017-10-23 | A kind of AGV merchandising machine people with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721367843.0U CN207738069U (en) | 2017-10-23 | 2017-10-23 | A kind of AGV merchandising machine people with mechanical arm |
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| Publication Number | Publication Date |
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| CN207738069U true CN207738069U (en) | 2018-08-17 |
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| CN201721367843.0U Active CN207738069U (en) | 2017-10-23 | 2017-10-23 | A kind of AGV merchandising machine people with mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555165A (en) * | 2017-10-23 | 2018-01-09 | 天津市中环电子计算机有限公司 | A kind of AGV merchandising machines people with mechanical arm and feeding method |
| CN109041814A (en) * | 2018-09-07 | 2018-12-21 | 江苏通正机械科技有限公司 | A kind of rotatable handgrip of agricultural straw grab |
-
2017
- 2017-10-23 CN CN201721367843.0U patent/CN207738069U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555165A (en) * | 2017-10-23 | 2018-01-09 | 天津市中环电子计算机有限公司 | A kind of AGV merchandising machines people with mechanical arm and feeding method |
| CN109041814A (en) * | 2018-09-07 | 2018-12-21 | 江苏通正机械科技有限公司 | A kind of rotatable handgrip of agricultural straw grab |
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